if (msg->data == "done") { ROS_INFO("[GrabResultCB] grab_box done!"); std_msgs::String waypoint_msg; if (put_count == YELLOW) { waypoint_msg.data = "2"; } else if (put_count == BLUE) { waypoint_msg.data = "3"; } else if (put_count == RED) { waypoint_msg.data = "4"; } waypoint_pub.publish(waypoint_msg); step = STEP_GOTO_WP2; }这个代码要怎么改,然后实现可以跑到别的航点?
时间: 2024-02-10 09:13:22 浏览: 28
要将这段代码改为可以跑到别的航点,你需要修改 waypoint_msg.data 的值来达到目的地的航点编号。假设你要跑到航点5,那么你需要将代码修改为:
```
if (msg->data == "done")
{
ROS_INFO("[GrabResultCB] grab_box done!");
std_msgs::String waypoint_msg;
waypoint_msg.data = "5"; // 修改航点编号为5
waypoint_pub.publish(waypoint_msg);
step = STEP_GOTO_WP2;
}
```
这样,机器人就会前往航点5了。请注意,航点编号的具体值取决于你的实际应用中的场景,需要根据实际情况进行修改。
相关问题
if (step == STEP_GRAB_BOX) { if (msg->data == "done") { ROS_INFO("[GrabResultCB] grab_box done!"); std_msgs::String waypoint_msg; if (put_count == YELLOW) { waypoint_msg.data = "2"; } else if (put_count == BLUE) { waypoint_msg.data = "3"; } else if (put_count == RED) { waypoint_msg.data = "4"; } waypoint_pub.publish(waypoint_msg); step = STEP_GOTO_WP2; } }什么意思
这是一个 ROS 节点的回调函数,当机器人当前的操作步骤为 `STEP_GRAB_BOX` 时,会根据传入的消息判断是否完成了抓取物品的任务。如果完成了,则会发布一个表示下一步目标位置的消息到 `waypoint_pub` 话题上,并将操作步骤更新为 `STEP_GOTO_WP2`。其中,根据 `put_count` 的不同值,消息中的数据会设为不同的字符串,表示机器人需要前往的不同位置。
void CheckpointDetector::CameraInfoCallback(const sensor_msgs::CameraInfoConstPtr& camera_info) { sensor_msgs::CameraInfo my_camera_info_ // my_camera_info_ = camera_info; my_camera_info_.header = camera_info->header; my_camera_info_.distortion_model = camera_info->distortion_model; my_camera_info_.binning_x = camera_info->binning_x; my_camera_info_.binning_y = camera_info->binning_y; my_camera_info_.width = camera_info->width; my_camera_info_.height = camera_info->height; my_camera_info_.D = camera_info->D; my_camera_info_.K = camera_info->K; my_camera_info_.P = camera_info->P; my_camera_info_.R= camera_info->R; } 帮我把以上代码移植到ros2
在ROS2中,需要对代码进行一些修改和调整来适应新的API和数据类型。以下是将代码移植到ROS2的示例:
```cpp
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
class CheckpointDetector : public rclcpp::Node
{
public:
CheckpointDetector() : Node("checkpoint_detector")
{
camera_info_subscription_ = create_subscription<sensor_msgs::msg::CameraInfo>(
"camera_info", 10, std::bind(&CheckpointDetector::cameraInfoCallback, this, std::placeholders::_1));
}
private:
void cameraInfoCallback(const sensor_msgs::msg::CameraInfo::SharedPtr camera_info)
{
sensor_msgs::msg::CameraInfo my_camera_info;
my_camera_info.header = camera_info->header;
my_camera_info.distortion_model = camera_info->distortion_model;
my_camera_info.binning_x = camera_info->binning_x;
my_camera_info.binning_y = camera_info->binning_y;
my_camera_info.width = camera_info->width;
my_camera_info.height = camera_info->height;
my_camera_info.d = camera_info->d;
my_camera_info.k = camera_info->k;
my_camera_info.p = camera_info->p;
my_camera_info.r = camera_info->r;
}
rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr camera_info_subscription_;
};
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<CheckpointDetector>());
rclcpp::shutdown();
return 0;
}
```
请注意,ROS2中使用`rclcpp`库代替了ROS中的`ros::NodeHandle`和`ros::Subscriber`等。另外,`sensor_msgs::CameraInfo`的成员变量名称也有所不同。在ROS2中,它们被改为小写字母。
你可以将这个代码段放入你的ROS2工程中,并进行构建和运行。这样,当订阅到`camera_info`主题时,`cameraInfoCallback`函数将被调用,并将`camera_info`消息的内容赋值给`my_camera_info`变量。
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